Light detection and ranging device

ABSTRACT

A light detection and ranging device, a robot, and a method, the light detection and ranging device comprising: a light source; and a camera comprising at least one row of pixel sensors, wherein the camera comprises at least one row of pixel sensors, and wherein light emitted by the light source is on a same plane as a field of view of the at least one row of pixel sensors.

BACKGROUND

The present disclosure relates to light detection and ranging devices(LIDARs).

Light detection and ranging generally refers to a method for determiningdistance of an object or a location from a point. Light detection andranging comprises illuminating a target with a light beam, and using thereflected light for determining the distance to the light source. Insome applications the distance to the nearest object in each directionaround the light source may be determined, thus providing a mapping ofthe light source environment. By projecting a narrow laser beam,physical features in the environment may be mapped with highresolutions.

Light detection and ranging devices (Lidars) are used for a variety ofpurposes, including outdoor uses such as creating high-resolution maps,with applications in Geodesy, archaeology; geography; geology;geomorphology; seismology; forestry; atmospheric physics; laserguidance; airborne laser swath mapping (ALSM); or laser altimetry, aswell as indoor uses.

The main components included in common Lidar system traditionallyinclude:

a light source, usually a laser source, which may use almost anywavelength, including ultraviolet, visible, or near infrared light,wherein the wavelength can be selected to suit the target: from about 10micrometers to UV which is of approximately 250 nm. Different types ofscattering can also be used for different Lidar applications;

scanning and optic components: mechanical and optical systems, such as alens assembly for making the light beam scan the azimuths and elevationswhich are required to be mapped, and have the scans performed at therequired rate;

photodetector or receiver electronics: a component for capturing thelight as it hits an object or receiving the reflected light, upon whichthe distance may be assessed, and indicating the relevant parameter,such as time, location, phase or the like; and

a processing unit for analyzing the received light, determining thedistance to the object at the particular direction and optionallyperforming additional computations based on the distance, for exampleanalyzing a multiplicity of distances at a multiplicity of directions,and thus creating a mapping of the environment surrounding the lightsource.

The foregoing examples and limitations related therewith are intended tobe illustrative and not exclusive. Other limitations of the related artwill become apparent to those of skill in the art upon a reading of thespecification and a study of the figures.

SUMMARY

The following embodiments and aspects thereof are described andillustrated in conjunction with systems, tools and methods which aremeant to be exemplary and illustrative, not limiting in scope.

There is provided, in accordance with an embodiment, a light detectionand ranging device, comprising: a light source; and a camera comprisingat least one row of pixel sensors, wherein the camera comprises one ormore rows of pixel sensors, and wherein light emitted by the lightsource is on a same plane as a field of view of the at least one row ofpixel sensors. Within the device the row of pixel sensors is optionallya vertical row of pixel sensors. Within the device the light source isoptionally installed above or below the camera. Within the device, thelight source and the camera are optionally installed on a rotatingmember. Within the device, the light source and the camera areoptionally installed on a structure perpendicular to a rotation plane ofa rotating member, wherein the rotating member rotates the light sourceand the camera. Within the device, the row of pixel sensors isoptionally perpendicular to a rotation plane of a rotating member,wherein the rotating member rotates the light detection and rangingdevice.

There is provided, in accordance with another embodiment, a robotcomprising: a light source configured to emit a pattern of NIR light ata multiplicity of directions, thus forming a light pattern in anenvironment of the robot; a camera comprising one or more rows of pixelsensors, wherein light emitted by the light source is on a same plane asa field of view of the row of pixel sensors; and a processor configuredto: determine a distance between the robot and a location at which lightemitted by the light source hits an object, in accordance with whichpixel of the at least one row of pixel sensors captured the location.Within the robot, the row of pixel sensors is optionally a vertical rowof pixel sensors. Within the robot, the light source is optionallyinstalled above or below the camera. Within the robot, the light sourceand the camera are optionally installed on a rotating member. Within therobot, the light source and the camera are optionally installed on astructure perpendicular to a rotation plane of a rotating member,wherein the rotating member rotates the light source and the camera.Within the robot, the row of pixel sensors is perpendicular to arotation plane of a rotating member, wherein the rotating member rotatesthe light detection and ranging device.

There is provided, in accordance with yet another embodiment, a methodfor determining a distance of an object from a device, comprising:emitting light at a direction by a light source associated with thedevice; receiving an indication to which pixel from a row of pixelsensors of a camera which captures a location at which the light hit anobject; and determining a distance of the object from the device, inaccordance with the pixel, wherein the light emitted by the light sourceis on a same plane as a field of view of the row of pixel sensors.Within the method, the row of pixel sensors is optionally a vertical rowof pixel sensors.

Within the method, the light source is optionally installed above orbelow the camera. Within the method, the light source and the camera areoptionally installed on a rotating member. Within the method, the lightsource and the camera are optionally installed on a structureperpendicular to a rotation plane of a rotating member, wherein therotating member rotates the light source and the camera. Within themethod, the row of pixel sensors is optionally perpendicular to arotation plane of a rotating member, wherein the rotating member rotatesthe light detection and ranging device.

In addition to the exemplary aspects and embodiments described above,further aspects and embodiments will become apparent by reference to thefigures and by study of the following detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments are illustrated in referenced figures. Dimensionsof components and features shown in the figures are generally chosen forconvenience and clarity of presentation and are not necessarily shown toscale. The figures are listed below.

FIG. 1 shows a schematic illustration of a mobile device including adevice for mapping the environment;

FIG. 2A and FIG. 2B demonstrate determining a distance to an objectusing device comprising a laser source and a line camera;

FIG. 3 provides a schematic illustration of a top view of a Lidar devicefor mapping an environment;

FIG. 4A and FIG. 4B demonstrate an occlusion problem when determining adistance to an object using device comprising a laser source and a linecamera;

FIG. 5 provides a schematic illustration of a Lidar device for mappingan environment, in accordance with an example of the presently disclosedsubject matter; and

FIG. 6 shows a functional block diagram of a mobile device using a Lidardevice for mapping an environment, in accordance with an example of thepresently disclosed subject matter.

DETAILED DESCRIPTION

Many devices, and in particular mobile devices need a device for mappingtheir environments, such as a Light Detection and Ranging (Lidar)device, wherein a path may be planned for the mobile device upon suchmapping.

Referring now to FIG. 1, showing an illustration of a mobile device,such as a robot, comprising a Lidar, wherein the Lidar comprises a lightsource and a photo receiver or a camera.

The mobile device, generally referenced 100, comprises a steeringmechanism which may be located at its bottom part 104, and comprisingone or more wheels or one or more bearings, chains or any othermechanism for moving. Device 100 can also comprise a motor foractivating the steering mechanism, and a motor controller for providingcommands to the motor in accordance with the required motion.

Mobile device 100 can further comprise a mapping device 108, for mappingthe environment and thus enabling planning a path and navigatingtherein. In some embodiments, mapping device 108 may include a lightsource, such as a laser emitter and a line camera, installed on arotating element in order to capture the surrounding of mobile device100.

However, in such embodiments, when mapping device 100 rotates, member112 which forms a part of a vertical part of mobile device 100, and thecorresponding member on the other side of mobile device 100 form staticocclusions to mapping device 108, wherein each such member occludes thefield of view whether it blocks the light emitted by the light source,or is between objects and the camera, which amounts to significant partof the 360°.

It will be appreciated that although mobile device 100 and its structureis exemplary only, this problem may occur with any structure, since thelower areas of the environment surrounding mobile device 100 have to bemapped in order for the device to roam autonomously, while the devicegenerally needs to comprise taller parts for providing functionality,wherein these members may thus form occlusions.

Thus a problem handled by the disclosed subject matter relates to theneed to reduce the field of view occlusions of a Lidar formed by a lightsource and a camera.

Mobile device 100 may also comprise utilities such as tray 116, display114, or the like.

A Lidar for mapping an environment generally comprises a light sourcefor emitting light at a specific direction; a mechanical and opticalsystem for scanning the environment and directing the light source to amultiplicity of directions; a photodetector for capturing the light asit hits an object or a photoreceiver for receiving the returned light;and a processor for determining the distance based on the returnedlight.

Some approaches may be used for detecting the hitting or received lightand calculating the distance:

One approach relates to the Time of Flight (TOF): a laser pulse istransmitted, and the period of time it takes the light to hit an objectand to come back to a detector nearby the transmitter is measured. Bymultiplying half the time by the speed of light, the distance to thenearest object at the particular direction in which the light wasemitted may be determined.

Another approach relates to RF-modulated light sources with phasedetectors: the returning phase of the returned light is determined, andby comparing it to the phase of the transmitted light the travel timecan be determined, from which the distance can be determined as above.

Yet another approach is exemplified in FIG. 2A and FIG. 2B. Thisapproach uses a light source, such as a laser source 200 and a line-scancamera 208, wherein the field of view of line-scan camera 208 spansbetween virtual rays 212 and 216. The field of view may be determined bya lens assembly associated with the device. Laser source 200 andline-scan camera 208 are arranged such that the light emitted by lasersource 200 and the row of pixel sensors 220 of line-scan camera 208 areon the same plane, wherein an angle close to a right angle, for examplebetween 60° and 88° exists between row of pixel sensors 220 anddirection 214 at which laser 200 emits light. When laser 200 emitslight, the light hits object 204. Line-scan camera 208 can then capturethe illuminated location, for example point 224 of FIG. 2A or point 228of FIG. 2B.

The distance between laser 200 and object 204 is reflected by the pixelor pixels of pixel sensors 220 which captures the point at which thelight hit object 204. When object 204 is closer to laser 200, the pixelsof pixel sensors 220 capturing the hitting point will be closer to ray212, while object 204 being farther from laser 200 will be expressed inthe pixels capturing the hitting point being closer to ray 216. Thedistance and angle between line-scan camera 208 and the ray alongdirection 214 can be determined in accordance with the expected range ofdistances between the laser source and objects in the environment andthe required resolution. Since the error in measuring distancesincreases for larger distances, this approach is particularly suitablefor smaller distances, for example indoor environments.

It will be appreciated that a regular camera may be used as well whereinthe distance is determined upon which pixels along a single line capturethe lighted object. However, a line scan camera is generally cheaper andtakes up less space.

Referring now to FIG. 3, showing a schematic illustration of a top viewof a Lidar device for mapping an environment.

In order to map an environment, the system shown in FIG. 2A or 2B istypically fixed to a rotating base 300, such as a rotating disk. Thedisk may be operatively connected to a motor for rotating the disk atany required rate, for example 2 to 600 rounds per minute. At eachangle, in accordance with the required resolution, laser 200 emits lightin direction 214, and line camera 208 captures the area where the lighthit an object, and which provides for determining the distance to theobject. Having the distances around the device provides for mapping theenvironment, for example for navigation needs.

A problem associated with this approach relates to having a multiplicityof blind areas of the environment, i.e., areas in which objects cannotbe detected due to occlusions.

Referring now to FIGS. 4A and 4B, explicitly demonstrating the problem.As seen in FIG. 4A, at a first position of rotating base 300, occlusion400 blocks the light emitted by laser 200 from getting to object 404,thus disabling line camera 208 from detecting it.

FIG. 4B shows rotating base 300 at a second position, after havingturned a part of a circle, in which occlusion 400 disables line camera208 from capturing object 404.

Thus, occlusion 400 interferes with mapping the environment on twoportions of each cycle: if the occluding object blocks the light emittedby laser 200 from reaching object 404, or if the occluding object blocksline camera 208 from capturing the object or the part thereof which isbeing lighted.

One technical solution provided by the current disclosure relates to avertically-arranged Lidar, in which the line camera is installed suchthat the row of pixels is vertical, and the light source is above orbelow the line camera, and wherein the light is emitted along a linewhich is on the same plane as the field of view of the line camera.Thus, the areas occluded due to objects interfering with the linecameras include the areas occluded due to objects interfering with theemitted light, thus eliminating some of the occluded areas andincreasing the field of view.

Referring now to FIG. 5, showing a schematic illustration of a Lidardevice in accordance with some embodiments of the disclosure.

The device, generally referenced 500, comprises light source 100 andline camera 108, having a row of pixel sensors, such that a lineconnecting light source 100 and line camera 108, for example a linegoing along or in parallel to support 504, is perpendicular to rotatingplate 200, which rotates light source 100 and line camera 108. Thedevice can be installed such that the row of pixels is alsosubstantially vertical to rotating plate 200, and such that the row ofpixels, which is generally located between where virtual rays 112 and116 meet camera 108, is on the same plane as line of light 114 emittedby light source 100, such that if light emitted by laser 100 hits anobject, line camera 108 is guaranteed to capture it.

The vertical arrangement of the device provides for a field of view withreduced occluded areas, such that by installing the Lidar on a rotatingelement, a larger part of the surroundings can be mapped and static ordynamic objects will occlude a smaller part of the field of view.

It will be appreciated that the Lidar device may also compriseadditional components such as a lens assembly for directing, focusing,or receiving the light as required.

Referring now to FIG. 6, showing a functional block diagram of a mobiledevice, such as a robot, comprising a mapping system in accordance withthe disclosure. Reference is also made to FIG. 4, showing anillustration of the robot.

The mobile device, generally referenced 600, comprises a steeringmechanism 602 which can be located at its bottom part 404 of FIG. 4.Device 600 can also comprise motor 604 for activating steering mechanism602, and motor controller 607 for providing commands to motor 604 inaccordance with the required motion.

Mobile device 600 can further comprise a distance determination devicearranged vertically 608, also referred to as a Lidar system, used aspart of mapping device 408 for mapping the environment. The Lidar systemcomprises a light source 609 and a line camera 610 arranged verticallyas shown in association with FIG. 5 above. Lidar system 608 can alsocomprise a lens assembly 611 for directing, focusing, or receiving lightas required. Lidar system 608 can also comprise a processor as describedbelow in association with processor 624.

In some embodiments, Lidar system 608 may rotate, for example at a rateof 600 RPM, such that at least 600 times every minute objectssurrounding the device may be captured and analyzed.

Mobile device 600 may further comprise utilities 612 such as a tray 416for carrying items, a display device 414, or the like.

Display device 414 may display an illustration of the environment inaccordance with the distances of object at any direction, as determinedby Lidar system 608, thus providing some visualization of theenvironment. Display device 414 can also display captured video orimages, alerts, entertainment information, required information such asitems to carry, or any other information. Utilities 612 may alsocomprise a speaker for playing or streaming sound, a basket, or the like

Mobile device 600 may further comprise one or more computer storagedevices 616 for storing data or program code operative to cause mobiledevice 600 to perform acts associated with any of the steps of themethods detailed below or with any other steps related for example tonavigation of the robot. Storage device 616 may be persistent orvolatile. For example, storage device 616 can be a Flash disk, a RandomAccess Memory (RAM), a memory chip, an optical storage device such as aCD, a DVD, or a laser disk; a magnetic storage device such as a tape, ahard disk, storage area network (SAN), a network attached storage (NAS),or others; a semiconductor storage device such as Flash device, memorystick, or the like.

In some exemplary embodiments of the disclosed subject matter, mobiledevice 600 may comprise one or more Input/Output (I/O) devices 620,which may be utilized to receive input or provide output to and frommobile device 600, such as receiving commands, displaying instructions,or the like. I/O device 620 may include previously mentioned members,such as display 414, speaker, microphone, a touch screen, or others.

In some exemplary embodiments, mobile device 600 may comprise one ormore processors 624. Each processor 624 may be a Central Processing Unit(CPU), a microprocessor, an electronic circuit, an Integrated Circuit(IC) or the like. Alternatively, processor 624 can be implemented asfirmware programmed for or ported to a specific processor such asdigital signal processor (DSP) or microcontrollers, or can beimplemented as hardware or configurable hardware such as fieldprogrammable gate array (FPGA) or application specific integratedcircuit (ASIC).

In some embodiments, one or more processor(s) 624 may be locatedremotely from mobile device 600, such that some or all computations areperformed remotely from the device and the results are transmitted via acommunication channel to mobile device 200.

It will be appreciated that processor(s) 624 can be configured toexecute several functional modules in accordance with computer-readableinstructions implemented on a non-transitory computer-readable storagemedium, such as but not limited to storage device 616. Such functionalmodules are referred to hereinafter as comprised in the processor.

The components detailed below can be implemented as one or more sets ofinterrelated computer instructions, executed for example by processor624 or by another processor. The components can be arranged as one ormore executable files, dynamic libraries, static libraries, methods,functions, services, or the like, programmed in any programming languageand under any computing environment.

Processor 624 can comprise distance determination module 628, fordetermining the distance to the nearest object in a particulardirection, based on one or more readings received from vertical linecamera 610.

Processor 624 can comprise distance determination module 628, forgenerating a map or another representation of the environment, based onthe distances from the Lidar system to the nearest objects in differentdirections. For example, similar readings in close directions may beinterpreted as single objects, and significant differences in distancesmay be interpreted as free areas between objects, or direction at whichthe nearest object is farther away.

Processor 624 can comprise navigation module 640 for planning andfollowing a path within the environment, based on the gathered objectinformation.

The present invention may be a system, a method, and/or a computerprogram product. The computer program product may include a computerreadable storage medium (or media) having computer readable programinstructions thereon for causing a processor to carry out aspects of thepresent invention.

The computer readable storage medium can be a tangible device that canretain and store instructions for use by an instruction executiondevice. The computer readable storage medium may be, for example, but isnot limited to, an electronic storage device, a magnetic storage device,an optical storage device, an electromagnetic storage device, asemiconductor storage device, or any suitable combination of theforegoing. A non-exhaustive list of more specific examples of thecomputer readable storage medium includes the following: a portablecomputer diskette, a hard disk, a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), a static random access memory (SRAM), a portablecompact disc read-only memory (CD-ROM), a digital versatile disk (DVD),a memory stick, a floppy disk, a mechanically encoded device havinginstructions recorded thereon, and any suitable combination of theforegoing. A computer readable storage medium, as used herein, is not tobe construed as being transitory signals per se, such as radio waves orother freely propagating electromagnetic waves, electromagnetic wavespropagating through a waveguide or other transmission media (e.g., lightpulses passing through a fiber-optic cable), or electrical signalstransmitted through a wire. Rather, the computer readable storage mediumis a non-transient (i.e., not-volatile) medium.

Computer readable program instructions described herein can bedownloaded to respective computing/processing devices from a computerreadable storage medium or to an external computer or external storagedevice via a network, for example, the Internet, a local area network, awide area network and/or a wireless network. The network may comprisecopper transmission cables, optical transmission fibers, wirelesstransmission, routers, firewalls, switches, gateway computers and/oredge servers. A network adapter card or network interface in eachcomputing/processing device receives computer readable programinstructions from the network and forwards the computer readable programinstructions for storage in a computer readable storage medium withinthe respective computing/processing device.

Computer readable program instructions for carrying out operations ofthe present invention may be assembler instructions,instruction-set-architecture (ISA) instructions, machine instructions,machine dependent instructions, microcode, firmware instructions,state-setting data, or either source code or object code written in anycombination of one or more programming languages, including an objectoriented programming language such as Java, Smalltalk, C++ or the like,and conventional procedural programming languages, such as the “C”programming language or similar programming languages. The computerreadable program instructions may execute entirely on the user'scomputer, partly on the user's computer, as a stand-alone softwarepackage, partly on the user's computer and partly on a remote computeror entirely on the remote computer or server. In the latter scenario,the remote computer may be connected to the user's computer through anytype of network, including a local area network (LAN) or a wide areanetwork (WAN), or the connection may be made to an external computer(for example, through the Internet using an Internet Service Provider).In some embodiments, electronic circuitry including, for example,programmable logic circuitry, field-programmable gate arrays (FPGA), orprogrammable logic arrays (PLA) may execute the computer readableprogram instructions by utilizing state information of the computerreadable program instructions to personalize the electronic circuitry,in order to perform aspects of the present invention.

Aspects of the present invention are described herein with reference toflowchart illustrations and/or block diagrams of methods, apparatus(systems), and computer program products according to embodiments of theinvention. It will be understood that each block of the flowchartillustrations and/or block diagrams, and combinations of blocks in theflowchart illustrations and/or block diagrams, can be implemented bycomputer readable program instructions.

These computer readable program instructions may be provided to aprocessor of a general purpose computer, special purpose computer, orother programmable data processing apparatus to produce a machine, suchthat the instructions, which execute via the processor of the computeror other programmable data processing apparatus, create means forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks. These computer readable program instructionsmay also be stored in a computer readable storage medium that can directa computer, a programmable data processing apparatus, and/or otherdevices to function in a particular manner, such that the computerreadable storage medium having instructions stored therein comprises anarticle of manufacture including instructions which implement aspects ofthe function/act specified in the flowchart and/or block diagram blockor blocks.

The computer readable program instructions may also be loaded onto acomputer, other programmable data processing apparatus, or other deviceto cause a series of operational steps to be performed on the computer,other programmable apparatus or other device to produce a computerimplemented process, such that the instructions which execute on thecomputer, other programmable apparatus, or other device implement thefunctions/acts specified in the flowchart and/or block diagram block orblocks.

The flowchart and block diagrams in the Figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods, and computer program products according to variousembodiments of the present invention. In this regard, each block in theflowchart or block diagrams may represent a module, segment, or portionof instructions, which comprises one or more executable instructions forimplementing the specified logical function(s). In some alternativeimplementations, the functions noted in the block may occur out of theorder noted in the figures. For example, two blocks shown in successionmay, in fact, be executed substantially concurrently, or the blocks maysometimes be executed in the reverse order, depending upon thefunctionality involved. It will also be noted that each block of theblock diagrams and/or flowchart illustration, and combinations of blocksin the block diagrams and/or flowchart illustration, can be implementedby special purpose hardware-based systems that perform the specifiedfunctions or acts or carry out combinations of special purpose hardwareand computer instructions.

The descriptions of the various embodiments of the present inventionhave been presented for purposes of illustration, but are not intendedto be exhaustive or limited to the embodiments disclosed. Manymodifications and variations will be apparent to those of ordinary skillin the art without departing from the scope and spirit of the describedembodiments. The terminology used herein was chosen to best explain theprinciples of the embodiments, the practical application or technicalimprovement over technologies found in the marketplace, or to enableothers of ordinary skill in the art to understand the embodimentsdisclosed herein.

What is claimed is:
 1. A light detection and ranging device, comprising:at least one light source; and at least one camera comprising at leastone row of pixel sensors having a field of view; and wherein lightemitted by the light source is on a same plane as the field of view ofthe at least one row of pixel sensors.
 2. The device of claim 1, whereinthe at least one row of pixel sensors is a vertical row of pixelsensors.
 3. The device of claim 1, wherein the light source is installedabove or below the camera.
 4. The device of claim 1, wherein the lightsource and the camera are installed on a rotating member.
 5. The deviceof claim 1, wherein the light source and the camera are installed on astructure perpendicular to a rotation plane of a rotating member,wherein the rotating member rotates the light source and the camera. 6.The device of claim 1, wherein the row of pixel sensors is perpendicularto a rotation plane of a rotating member, wherein the rotating memberrotates the light detection and ranging device.
 7. The device of claim1, wherein the camera is a line-scan camera.
 8. The device of claim 1,wherein the field of view that spans between two virtual rays.
 9. Arobot comprising: a light source configured to emit a pattern of NIRlight at a multiplicity of directions, thus forming a light pattern inan environment of the robot; a camera comprising at least one row ofpixel sensors having a field of view, wherein light emitted by the lightsource is on a same plane as the field of view of the at least one rowof pixel sensors; and a processor configured to: determine a distancebetween the robot and a location at which light emitted by the lightsource hits an object, in accordance with which pixel of the at leastone row of pixel sensors captured the location.
 10. The robot of claim9, wherein the at least one row of pixel sensors is a vertical row ofpixel sensors.
 11. The robot of claim 9, wherein the light source isinstalled above or below the camera.
 12. The robot of claim 9, whereinthe light source and the camera are installed on a rotating member. 13.The robot of claim 9, wherein the light source and the camera areinstalled on a structure perpendicular to a rotation plane of a rotatingmember, wherein the rotating member rotates the light source and thecamera.
 14. The robot of claim 9, wherein the at least one row of pixelsensors is perpendicular to a rotation plane of a rotating member,wherein the rotating member rotates the light detection and rangingdevice.
 15. A method for determining a distance of an object from adevice, comprising: emitting light at a direction by a light sourceassociated with the device; receiving an indication to which pixel froma row of pixel sensors of a camera which captures a location at whichthe light hit an object; and determining a distance of the object fromthe device, in accordance with the pixel, wherein the light emitted bythe light source is on a same plane as a field of view of the row ofpixel sensors.
 16. The method of claim 15, wherein the row of pixelsensors is a vertical row of pixel sensors.
 17. The method of claim 15,wherein the light source is installed above or below the camera.
 18. Themethod of claim 15, wherein the light source and the camera areinstalled on a rotating member.
 19. The method of claim 15, wherein thelight source and the camera are installed on a structure perpendicularto a rotation plane of a rotating member, wherein the rotating memberrotates the light source and the camera.
 20. The method of claim 15,wherein the row of pixel sensors is perpendicular to a rotation plane ofa rotating member, wherein the rotating member rotates the lightdetection and ranging device.